Lessons in Disaster by Gordon M. Goldstein (2009, Paperback, Reprint)

This is very good read. It follows pretty much what McNamara said however about the Viet Nam war was a big mistake and although these guys were the presidential advisors, all they did was advise. The President made the decisions. As someone who was involved in that war, it did not surprise me that our leaders in Washington were just as confused and out of touch as the commanders in country.
The author, however did not try to justify bad decisions, but rather try to point out that the same bad decisions are being made right now with our Middle East involvement. I hope our current leaders are trying to take lessons from past mistakes.